cmake_minimum_required(VERSION 3.8)
project(scheduler_node)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)

#添加需要的依赖
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(abb_interface REQUIRED)
find_package(behaviortree_cpp REQUIRED
  PATHS /usr/local/share/behaviortree_cpp
  NO_DEFAULT_PATH
)
add_executable(wsl_abb_action_server src/scheduler_node.cpp)
ament_target_dependencies(wsl_abb_action_server rclcpp rclcpp_action abb_interface)
target_link_libraries(wsl_abb_action_server "/usr/local/lib/libbehaviortree_cpp.so")
install(TARGETS
  wsl_abb_action_server
  DESTINATION lib/${PROJECT_NAME}
)

# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()